Manipulation devices with redundancy and failure-safety

现有的和潜在的分支和联合布局和数量的联合编码器（和/或执行器）的并联机械手（PM）[多个分支支持一个共同的有效载荷]将进行调查。 将确定不同任务自由度（DOF）的基本运动学和力问题的解析闭合解（目标（A））。 (B)将开发用于利用冗余编码和/或致动元件的解决方案和算法，用于：Bi）用于识别的PM的故障检测（FD）和故障安全（FS），以及Bii）确保准确的单向致动器力（用于致动的棱柱接头）和/或扭矩（用于致动的旋转接头）。将评估用于在危险工作环境中控制机器人设备（RD）的基于PM的主臂（MA）所需的驱动（目标（C））。 包括：（一）力反射PM为基础的MA的设计，使用现有的直流伺服电机，（二）执行FD和FS PM为基础的MA的水下机器人机械手系统的控制。

Existing and potential branch and joint layouts and the number of joint encoders (and/or actuators) for parallel manipulators (PMs) [multiple branchs supporting a common payload] will be investigated. Analytical closed-form solutions to fundamental kinematic and force problems for different numbers of task Degrees of Freedom (DOF) will be identified (objective (A).) (B) Solutions and algorithms for utilizing redundant encoding and/or actuation elements will be developed for: Bi) fault-detection (FD) and failure-safety (FS) for the identified PMs and for Bii) ensuring accurate uni-directional actuactor forces (for actuated prismatic joints) and/or torques (for actuated revolute joints.) The actuation required for PM-based Master Arms (MAs) for the control of Robotic Devices (RDs) in hazardous work enviroments will be evaluated (objective (C).) Included is Ci) design of force-reflective PM-based MAs which use existing DC servo-motors, Cii) implementation of FD and FS PM-based MAs for the control of Underwater Vehicle-Manipulator systems.